I have some questions about globaolpaln in ROS

asked 2018-06-18 07:44:40 -0600

Liuche gravatar image

updated 2018-06-18 07:45:53 -0600

I found that when I was planning a global path, my starting point was (0,0) and the goal was (1,0).

Why does it plan out the path maybe like this

['0.0,0.0', '0.2,0.1', '0.4,0.1', '0.6,0.1', '0.8,0.1', '1.0,0.0']

Why is it not planned directly like this?

['0.0,0.0', '0.2,0.0', '0.4,0.0', '0.6,0.0', '0.8,0.0', '1.0,0.0']

What I mean is why my goal is only X, but there are Y values in the plan...

I think it may be related to the resolution of the map, but I don't know how to explain it.

Can someone help me to explain this?

Thank you all very much!

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Is your robot use differential? or holonomic drive?

achmad_fathoni gravatar image achmad_fathoni  ( 2018-06-18 08:30:13 -0600 )edit

my robot is kobuki,I think I may know the answer!

It is possible that the path planned by A* is on the grid not on the line.

But i can not sure about it, so I hope someone can help explain about why?

Liuche gravatar image Liuche  ( 2018-06-18 09:29:50 -0600 )edit